Vehicle travel control system

• US 8,068,968 B2
• Filed: 02/04/2008
• Issued: 11/29/2011
• Est. Priority Date: 02/06/2007
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Kondoh, Toshiyuki
• Primary Examiner(s): Black; Thomas
• Assistant Examiner(s): Olsen; Lin B
• Application Number:
  US12/012,981
• Publication Number:
  US 20080185207A1
• Time in Patent Office: 1,394 Days
• Field of Search: 701/91, 701/92, 701/97
• US Class Current: 701/96
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 2040/0818 Inactivity or incapacity of driver
• CPC Class Codes: B60W 2540/22 Psychological state; Stress level or workload
• CPC Class Codes: B60W 2540/221 Physiology, e.g. weight, heartbeat, health or special needs
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4047 Attentiveness, e.g. distracted by mobile phone
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: B60W 40/08 related to drivers or passengers

Abstract

A vehicle travel control system includes a cruise control ECU, an engine control ECU and a brake control ECU. The cruise control ECU checks whether a driver'"'"'s actual concentration degree is insufficient relative to a required concentration degree in terms of safety in surrounding environments of the subject vehicle. When such possibility arises, even during the cruise control, the speed of the subject vehicle is controlled to match a control vehicle speed lower than a set vehicle speed or a control distance to a preceding vehicle.

Claims

1. A vehicle control system comprising:

means for automatically driving a subject vehicle at a fixed speed without a driver'"'"'s cruise operation for adjusting a cruise speed of the subject vehicle;

means for detecting a driver'"'"'s actual concentration degree based on a state of the driver;

means for acquiring a required concentration degree required to the driver for safely cruising the subject vehicle based on information related to surrounding environments of the subject vehicle; and

means for changing a control content of the driving means based on a relation between the actual concentration degree detected by the detecting means and the required concentration degree acquired by the acquiring means,

wherein the required concentration degree acquired by the acquiring means becomes small as the cruise speed of the subject vehicle becomes low, and

wherein, when the required concentration degree is larger than the actual concentration, the changing means changes the control content of the driving means to decrease a speed, at which the driving means drives the subject vehicle, until the required concentration degree becomes smaller than the actual concentration degree by a specific value.

2. The vehicle control system according to claim 1, wherein:

the acquiring means acquires the required concentration degree, as the information related to surrounding environment of the subject vehicle, based on at least one of a preceding vehicle inter-vehicle time obtained by dividing a vehicular distance from a preceding vehicle traveling on a same lane as the subject vehicle by the vehicle speed of the subject vehicle, a curve entrance margin time obtained by dividing a distance to a curve entrance point by the vehicle speed, a visibility distance time obtained by dividing a visible distance set based on a road width by the vehicle speed, and an adjacent vehicle inter-vehicle time obtained by dividing a vehicular distance from an adjacent vehicle traveling on an adjacent lane by the vehicle speed of the subject vehicle.

3. The vehicle control system according to claim 1, wherein:

the detecting means includes means for detecting an opening degree of a driver'"'"'s eye lid, and detects the actual concentration degree as the state of the driver based on the opening degree of a driver'"'"'s eyelid.

4. The vehicle control system according to claim 1, wherein:

the detecting means includes means for detecting an opening degree of a driver'"'"'s eye lid, and detects the actual concentration degree as the state of the driver based on the opening degree of a driver'"'"'s eyelid and a time duration of opening when the opening degree detected is smaller than a specific value.

5. The vehicle control system according to claim 1, wherein:

the detecting means includes means for detecting a driver'"'"'s eye direction, and detects the actual concentration degree, as the state of the driver, based on the driver'"'"'s eye direction and time duration of the driver'"'"'s eye direction when the detected eye direction of the driver is a specific angle or more off a traveling direction of the subject vehicle.

6. The vehicle control system according to claim 5, wherein:

the actual concentration degree is based on a time ratio that an angle value of the driver'"'"'s eye direction is a specific angle or more off a traveling direction of the subject vehicle in a specific time interval.

7. The vehicle control system according to claim 1, wherein:

the detecting means includes means for detecting a steering angle of a steering wheel operated by the driver, and detects the actual concentration degree, as the state of the driver, a degree of fluctuation in angle of the steering wheel operated by the driver.

8. The vehicle control system according to claim 1, wherein:

the detecting means includes means for photographing a face of the driver, and detects the actual concentration degree, as the state of the driver, based on a slack degree of muscle of a photographed face of the driver.

9. The vehicle control system according to claim 1, wherein:

the acquiring means acquires the required concentration degree, as the information related to a surrounding environment of the subject vehicle, based on a distance from a person existing ahead of the subject vehicle.

10. The vehicle control system according to claim 1, wherein:

the acquiring means acquires the required concentration degree, as the information related to a surrounding environment of the subject vehicle, based on a distance from a traffic signal existing forward of the subject vehicle.

11. The vehicle control system according to claim 1, wherein:

the acquiring means acquires the required concentration degree, as the information related to a surrounding environment, based on weather during cruising of the subject vehicle.

12. A vehicle control system comprising:

means for automatically driving a subject vehicle to follow a preceding vehicle with a specific vehicular distance corresponding to the speed of the subject vehicle without a driver'"'"'s cruise operation for adjusting a cruise speed of the subject vehicle;

means for detecting a driver'"'"'s actual concentration degree based on a state of the driver;

means for acquiring a required concentration degree required to the driver for safely cruising the subject vehicle based on information related to surrounding environments of the subject vehicle; and

means for changing a control content of the driving means based on a relation between the actual concentration degree detected by the detecting means and the required concentration degree acquired by the acquiring means,

wherein the required concentration degree acquired by the acquisition means becomes smaller as the vehicular distance from the preceding vehicle becomes longer, and

wherein, when the required concentration degree is larger than the actual concentration degree, the driving means changes the control content of the driving means to lengthen a vehicular distance controlled by the driving means until the required concentration degree becomes smaller than the actual concentration degree by a specific value.

13. The vehicle control system according to claim 12, wherein:

the acquiring means acquires the required concentration degree, as the information related to surrounding environment of the subject vehicle, based on at least one of a preceding vehicle inter-vehicle time obtained by dividing the vehicular distance from the preceding vehicle traveling on a same lane as the subject vehicle by the vehicle speed of the subject vehicle, and an adjacent vehicle inter-vehicle time obtained by dividing the vehicular distance from an adjacent vehicle traveling on an adjacent lane by the vehicle speed of the subject vehicle.

14. The vehicle control system according to claim 12, wherein:

the detecting means includes means for detecting an opening degree of a driver'"'"'s eye lid, and detects the actual concentration degree as the state of the driver based on the opening degree of a driver'"'"'s eyelid.

15. The vehicle control system according to claim 12, wherein:

the detecting means includes means for detecting an opening degree of a driver'"'"'s eye lid, and detects the actual concentration degree as the state of the driver based on the opening degree of a driver'"'"'s eyelid and a time duration of opening when the opening degree detected is smaller than a specific value.

16. The vehicle control system according to claim 12, wherein:

the detecting means includes means for detecting a driver'"'"'s eye direction, and detects the actual concentration degree, as the state of the driver, based on the driver'"'"'s eye direction and time duration of the driver'"'"'s eye direction when the detected eye direction of the driver is a specific angle or more off a traveling direction of the subject vehicle.

17. The vehicle control system according to claim 16, wherein:

actual concentration degree is based on a time ratio that an angle value of the driver'"'"'s eye direction is a specific angle or more off a traveling direction of the subject vehicle in a specific time interval.

18. The vehicle control system according to claim 12, wherein:

the detecting means includes means for detecting a steering angle of a steering wheel operated by the driver, and detects the actual concentration degree, as the state of the driver, a degree of fluctuation in angle of the steering wheel operated by the driver.

19. The vehicle control system according to claim 12, wherein:

the detecting means includes means for photographing a face of the driver, and detects the actual concentration degree, as the state of the driver, based on a slack degree of muscle of a photographed face of the driver.

20. The vehicle control system according to claim 12, wherein:

the acquiring means acquires the required concentration degree, as the information related to a surrounding environment of the subject vehicle, based on a distance from a person existing ahead of the subject vehicle.

21. The vehicle control system according to claim 12, wherein:

the acquiring means acquires the required concentration degree, as the information related to a surrounding environment of the subject vehicle, based on a distance from a traffic signal existing forward of the subject vehicle.

22. The vehicle control system according to claim 12, wherein:

the acquiring means acquires the required concentration degree, as the information related to a surrounding environment, based on weather during cruising of the subject vehicle.